• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.901-906
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• 2005

The stability robustness problem of continuous linear systems with nominal and delayed time-varying perturbations is considered. In the previous results, the entire bound was derived only for the overall perturbations without separation of the perturbations. In this paper, the sufficient condition for stability of the system with two perturbations, which are nominal and delayed, is expressed as linear matrix inequalities(LMIs). The corresponding stability bounds fer those two perturbations are determined by LMI(Linear Matrix Inequality)-based generalized eigenvalue problem. Numerical examples are given to compare with the previous results and show the effectiveness of the proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1955-1959
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• 2005

This paper presents a systematic analysis and a simple design of a robust adaptive control law for a class of non linear systems with modeling errors and a time-delay input. The theory for designing a robust adaptive control law based on input- output feedback linearization of non linear systems with uncertainties and a time-delay in the manipulated input by the approach of parameterized state feedback control is presented. The main advantage of this method is that the parameterized state feedback control law can effectively suppress the effect of the most parts of nonlinearities, including system uncertainties and time-delay input in the pp-coupling perturbation form and the relative order of non linear systems is not limited.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• 응용통계연구
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• 제35권2호
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• pp.229-250
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• 2022

포트폴리오 최적화 이론의 초석인 Markowitz의 평균-분산 포트폴리오 모형 (1952)이 발표된 이후로 많은 분야에서 포트폴리오 최적화에 대한 다양한 연구가 진행되었다. 기존의 평균-분산 포트폴리오 모형은 주로 목적함수나 제약식에 비선형 볼록 형태를 포함한다. 이를 Dantzig의 선형계획법을 적용하여 선형으로 변환시켜 알고리즘 계산 시간을 효율적으로 감소시켰다. 또한 시계열 데이터 특성을 반영하여 시간에 따른 가중치를 고려하는 가우시안 커널 가중치 공분산을 제안하였다. 여기에 일정 부분은 벤치마크에 투자하고 나머지는 포트폴리오 최적화 모형으로 제안된 자산들에 투자하는 퍼터베이션 방법을 적용하여 평균 수익률과 위험도를 목적에 맞게 조절하도록 하였다. 또한, 본 논문에서는 안정적이면서도 적은 자산을 보유하게 포트폴리오를 구성하여 관리비용(management costs)과 거래비용(transaction costs)를 낮출 수 있는 Dantzig-type 퍼터베이션 포트폴리오 모형을 제안하였다. 제안된 모형의 성능은 5개의 실제 데이터 세트로 벤치마크 포트폴리오와 비교 분석하여 평가하였다. 최종적으로 제안한 최적화 모형은 벤치마크보다 높은 기대수익률이나 낮은 위험도를 갖는 포트폴리오를 구성하여 퍼터베이션 목적을 만족하며, 투자한 자산의 수와 시간에 따른 자산 구성 변화를 일정 수준 이하로 조절하는 희소하며 안정적인 결과를 얻었다.

• 천문학회지
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• 제27권1호
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• pp.61-76
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• 1994

We investigate the dynamical evolution of globular clusters under the diffusion, the Galactic tide, and the presence of halo black holes. We compare the results with our previous work which considers the diffusion processes and the Galactic tide. We find the followings: (1) The black holes contribute the expansion of the outer part of the cluster. (2) There is no evidence for dependence on the orbital phase of the cluster as in our previous work. (3) The models of linear and Gaussian velocity distribution for the halo black holes do not show any significant differences in all cases. (4) The perturbation of black holes reduces the number of stars in lower energy regions. (5) There is a significant number of stars with retrograde orbits beyond the cutoff radius especially in the case of diffusion and the perturbation of black holes.

• 대한기계학회논문집A
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• 제26권11호
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• pp.2270-2276
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• 2002

Dynamic stability of a rotary oscillating cantilever beam is presented in this study. Using the stretch deformation instead of the conventional axial deformation, three linear partial differential equations are derived from Hamilton's principle and transformed into dimensionless forms. Stability diagrams of the first order approximate solutions are obtained by using the multiple scale perturbation method. The stability diagrams show that relatively large unstable regions exist near the combination of the first chordwise bending natural frequency and the first stretch natural frequency. This result is verified by using the generalized -$\alpha$ method.

• Journal of applied mathematics & informatics
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• 제28권1_2호
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• pp.411-423
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• 2010

In this paper, a numerical method for singular perturbation problems arising in chemical reactor theory for general singularly perturbed two point boundary value problems with boundary layer at one end(left or right) of the underlying interval is presented. The original second order differential equation is replaced by an approximate first order differential equation with a small deviating argument. By using the trapezoidal formula we obtain a three term recurrence relation, which is solved using Thomas Algorithm. To demonstrate the applicability of the method, we have solved four linear (two left and two right end boundary layer) and one nonlinear problems. From the results, it is observed that the present method approximates the exact or the asymptotic expansion solution very well.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.994-999
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• 2002

The Pendulum Automatic Dynamic Balancer is a device to reduce the unbalanced mass of rotors. For the analysis of dynamic stability and behavior, the nonlinear equations of motion for a system including the Pendulum Balancer are derived with respect to polar coordinate by Lagrange's equations. And the perturbation method is applied to find the equilibrium positions and to obtain the linear variation equations. Based on the linearized equations, the dynamic stability of the system around the equilibrium positions is investigated by the eigenvalue problem. Furthermore, in order to confirm the stability, the time responses for the system are computed from the nonlinear equations of motion.

• 수산해양기술연구
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• 제32권4호
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• pp.432-446
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• 1996

A stochastic Hamilton variational principle(SHVP) is formulated for dynamic problems of linear continuum. The SHVP allows incorporation of probabilistic distributions into the finite element analysis. The formulation is simplified by transformation of correlated random variables to a set of uncorrelated random variables through a standard eigenproblem. A procedure based on the Fourier analysis and synthesis is presented for eliminating secularities from the perturbation approach. In addition to, a method to analyse stochastic design sensitivity for structural dynamics is present. A combination of the adjoint variable approach and the second order perturbation method is used in the finite element codes. An alternative form of the constraint functional that holds for all times is introduced to consider the time response of dynamic sensitivity. The algorithms developed can readily be adapted to existing deterministic finite element codes. The numerical results for stochastic analysis by proceeding approach of cantilever, 2D-frame and 3D-frame illustrates in this paper.

• 전기학회논문지
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• 제56권5호
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• pp.966-972
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• 2007

This paper presents position control of nonlinear three-dimensional crane systems using neural network approach. Such crane system generally includes very complicated characteristic dynamics and mechanical framework such that its mathematical model is expressed by strong nonlinearity. This leads difficulty in control design for the systems. We linearize the nonlinear system model to construct PID control applying well-known linear control theory and then neural network is utilized to compensate system perturbation due to linearization. Thus, control input of the crane system is composed of nominal PID and neural output signals respectively. Our method illustrates simple design procedure, but system perturbation and modelling error are overcome through a neural compensator. As well. adaptive neural control is constructed from online learning. Computer simulation demonstrates our control approach is superior to the classic control systems.